OpenRaiser/Intern-Atlas huggingface dataset:
Bridging the Gap Between Central and Local Decision-Making: The Efficacy of Collaborative Equilibria in Altruistic Congestion Games
Venue: arXiv cs.GT 2024
Year: 2024

Congestion games are popular models often used to study the system-level inefficiencies caused by selfish agents, typically measured by the price of anarchy. One may expect that aligning the agents' preferences with the system-level objective--altruistic behavior--would improve efficiency, but recent works have shown that altruism can lead to more significant inefficiency than selfishness in congestion games. In this work, we study to what extent the localness of decision-making causes inefficiency by considering collaborative decision-making paradigms that exist between centralized and distributed in altruistic congestion games. In altruistic congestion games with convex latency functions, the system cost is a super-modular function over the player's joint actions, and the Nash equilibria of the game are local optima in the neighborhood of unilateral deviations. When agents can collaborate, we can exploit the common-interest structure to consider equilibria with stronger local optimality guarantees in the system objective, e.g., if groups of k agents can collaboratively minimize the system cost, the system equilibria are the local optima over k-lateral deviations. Our main contributions are in constructing tractable linear programs that provide bounds on the price of anarchy of collaborative equilibria in altruistic congestion games. Our findings bridge the gap between the known efficiency guarantees of centralized and distributed decision-making paradigms while also providing insights into the benefit of inter-agent collaboration in multi-agent systems.
Long-Range Biometric Identification in Real World Scenarios: A Comprehensive Evaluation Framework Based on Missions
Venue: arXiv cs.CV 2024
Year: 2024

The considerable body of data available for evaluating biometric recognition systems in Research and Development (R\&D) environments has contributed to the increasingly common problem of target performance mismatch. Biometric algorithms are frequently tested against data that may not reflect the real world applications they target. From a Testing and Evaluation (T\&E) standpoint, this domain mismatch causes difficulty assessing when improvements in State-of-the-Art (SOTA) research actually translate to improved applied outcomes. This problem can be addressed with thoughtful preparation of data and experimental methods to reflect specific use-cases and scenarios. To that end, this paper evaluates research solutions for identifying individuals at ranges and altitudes, which could support various application areas such as counterterrorism, protection of critical infrastructure facilities, military force protection, and border security. We address challenges including image quality issues and reliance on face recognition as the sole biometric modality. By fusing face and body features, we propose developing robust biometric systems for effective long-range identification from both the ground and steep pitch angles. Preliminary results show promising progress in whole-body recognition. This paper presents these early findings and discusses potential future directions for advancing long-range biometric identification systems based on mission-driven metrics.
VoxHakka: A Dialectally Diverse Multi-speaker Text-to-Speech System for Taiwanese Hakka
Venue: arXiv cs.SD 2024
Year: 2024

This paper introduces VoxHakka, a text-to-speech (TTS) system designed for Taiwanese Hakka, a critically under-resourced language spoken in Taiwan. Leveraging the YourTTS framework, VoxHakka achieves high naturalness and accuracy and low real-time factor in speech synthesis while supporting six distinct Hakka dialects. This is achieved by training the model with dialect-specific data, allowing for the generation of speaker-aware Hakka speech. To address the scarcity of publicly available Hakka speech corpora, we employed a cost-effective approach utilizing a web scraping pipeline coupled with automatic speech recognition (ASR)-based data cleaning techniques. This process ensured the acquisition of a high-quality, multi-speaker, multi-dialect dataset suitable for TTS training. Subjective listening tests conducted using comparative mean opinion scores (CMOS) demonstrate that VoxHakka significantly outperforms existing publicly available Hakka TTS systems in terms of pronunciation accuracy, tone correctness, and overall naturalness. This work represents a significant advancement in Hakka language technology and provides a valuable resource for language preservation and revitalization efforts.
CT-SDM: A Sampling Diffusion Model for Sparse-View CT Reconstruction across All Sampling Rates
Venue: arXiv cs.CV 2024
Year: 2024

Sparse views X-ray computed tomography has emerged as a contemporary technique to mitigate radiation dose. Because of the reduced number of projection views, traditional reconstruction methods can lead to severe artifacts. Recently, research studies utilizing deep learning methods has made promising progress in removing artifacts for Sparse-View Computed Tomography (SVCT). However, given the limitations on the generalization capability of deep learning models, current methods usually train models on fixed sampling rates, affecting the usability and flexibility of model deployment in real clinical settings. To address this issue, our study proposes a adaptive reconstruction method to achieve high-performance SVCT reconstruction at any sampling rate. Specifically, we design a novel imaging degradation operator in the proposed sampling diffusion model for SVCT (CT-SDM) to simulate the projection process in the sinogram domain. Thus, the CT-SDM can gradually add projection views to highly undersampled measurements to generalize the full-view sinograms. By choosing an appropriate starting point in diffusion inference, the proposed model can recover the full-view sinograms from any sampling rate with only one trained model. Experiments on several datasets have verified the effectiveness and robustness of our approach, demonstrating its superiority in reconstructing high-quality images from sparse-view CT scans across various sampling rates.
Foreactor: Exploiting Storage I/O Parallelism with Explicit Speculation
Venue: arXiv cs.OS 2024
Year: 2024

We introduce explicit speculation, a variant of I/O speculation technique where I/O system calls can be parallelized under the guidance of explicit application code knowledge. We propose a formal abstraction -- the foreaction graph -- which describes the exact pattern of I/O system calls in an application function as well as any necessary computation associated to produce their argument values. I/O system calls can be issued ahead of time if the graph says it is safe and beneficial to do so. With explicit speculation, serial applications can exploit storage I/O parallelism without involving expensive prediction or checkpointing mechanisms. Based on explicit speculation, we implement Foreactor, a library framework that allows application developers to concretize foreaction graphs and enable concurrent I/O with little or no modification to application source code. Experimental results show that Foreactor is able to improve the performance of both synthetic benchmarks and real applications by significant amounts (29%-50%).
GaussianPU: A Hybrid 2D-3D Upsampling Framework for Enhancing Color Point Clouds via 3D Gaussian Splatting
Venue: arXiv cs.RO 2024
Year: 2024

Dense colored point clouds enhance visual perception and are of significant value in various robotic applications. However, existing learning-based point cloud upsampling methods are constrained by computational resources and batch processing strategies, which often require subdividing point clouds into smaller patches, leading to distortions that degrade perceptual quality. To address this challenge, we propose a novel 2D-3D hybrid colored point cloud upsampling framework (GaussianPU) based on 3D Gaussian Splatting (3DGS) for robotic perception. This approach leverages 3DGS to bridge 3D point clouds with their 2D rendered images in robot vision systems. A dual scale rendered image restoration network transforms sparse point cloud renderings into dense representations, which are then input into 3DGS along with precise robot camera poses and interpolated sparse point clouds to reconstruct dense 3D point clouds. We have made a series of enhancements to the vanilla 3DGS, enabling precise control over the number of points and significantly boosting the quality of the upsampled point cloud for robotic scene understanding. Our framework supports processing entire point clouds on a single consumer-grade GPU, such as the NVIDIA GeForce RTX 3090, eliminating the need for segmentation and thus producing high-quality, dense colored point clouds with millions of points for robot navigation and manipulation tasks. Extensive experimental results on generating million-level point cloud data validate the effectiveness of our method, substantially improving the quality of colored point clouds and demonstrating significant potential for applications involving large-scale point clouds in autonomous robotics and human-robot interaction scenarios.
MCBA: A Matroid Constraint-Based Approach for Composite Service Recommendation Considering Compatibility and Diversity
Venue: arXiv cs.SE 2024
Year: 2024

With the growing popularity of microservices, many companies are encapsulating their business processes as Web APIs for remote invocation. These lightweight Web APIs offer mashup developers an efficient way to achieve complex functionalities without starting from scratch. However, this also presents challenges, such as the concentration of developers'search results on popular APIs limiting diversity, and difficulties in verifying API compatibility. A method is needed to recommend diverse compositions of compatible APIs that fulfill mashup functional requirements from a large pool of candidate APIs. To tackle this issue, this paper introduces a Matroid Constraint-Based Approach (MCBA) for composite service recommendation, consisting of two stages: API composition discovery focusing on compatibility and top-k composition recommendation focusing on diversity. In the first stage, the API composition issue is formulated as a minimal group Steiner tree (MGST) problem, subsequently addressed by a "compression-solution" algorithm. In the second stage, a Maximum Marginal Relevance method under partition matroid constraints (MMR-PMC) is employed to ensure recommendation diversity. Comprehensive experiments on the real-world dataset show that MCBA surpasses several state-of-the-art methods in terms of accuracy, compatibility, diversity, and efficiency.
CTG-KrEW: Generating Synthetic Structured Contextually Correlated Content by Conditional Tabular GAN with K-Means Clustering and Efficient Word Embedding
Venue: arXiv cs.LG 2024
Year: 2024

Conditional Tabular Generative Adversarial Networks (CTGAN) and their various derivatives are attractive for their ability to efficiently and flexibly create synthetic tabular data, showcasing strong performance and adaptability. However, there are certain critical limitations to such models. The first is their inability to preserve the semantic integrity of contextually correlated words or phrases. For instance, skillset in freelancer profiles is one such attribute where individual skills are semantically interconnected and indicative of specific domain interests or qualifications. The second challenge of traditional approaches is that, when applied to generate contextually correlated tabular content, besides generating semantically shallow content, they consume huge memory resources and CPU time during the training stage. To address these problems, we introduce a novel framework, CTGKrEW (Conditional Tabular GAN with KMeans Clustering and Word Embedding), which is adept at generating realistic synthetic tabular data where attributes are collections of semantically and contextually coherent words. CTGKrEW is trained and evaluated using a dataset from Upwork, a realworld freelancing platform. Comprehensive experiments were conducted to analyze the variability, contextual similarity, frequency distribution, and associativity of the generated data, along with testing the framework's system feasibility. CTGKrEW also takes around 99\% less CPU time and 33\% less memory footprints than the conventional approach. Furthermore, we developed KrEW, a web application to facilitate the generation of realistic data containing skill-related information. This application, available at https://riyasamanta.github.io/krew.html, is freely accessible to both the general public and the research community.
BEVNav: Robot Autonomous Navigation Via Spatial-Temporal Contrastive Learning in Bird's-Eye View
Venue: arXiv cs.RO 2024
Year: 2024

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this paper introduces a novel navigation approach named BEVNav. It employs deep reinforcement learning to learn BEV representations and enhance decision-making reliability. First, we propose a self-supervised spatial-temporal contrastive learning approach to learn BEV representations. Spatially, two randomly augmented views from a point cloud predict each other, enhancing spatial features. Temporally, we combine the current observation with consecutive frames' actions to predict future features, establishing the relationship between observation transitions and actions to capture temporal cues. Then, incorporating this spatial-temporal contrastive learning in the Soft Actor-Critic reinforcement learning framework, our BEVNav offers a superior navigation policy. Extensive experiments demonstrate BEVNav's robustness in environments with dense pedestrians, outperforming state-of-the-art methods across multiple benchmarks. \rev{The code will be made publicly available at https://github.com/LanrenzzzZ/BEVNav.
Intelligent Transaction Scheduling via Conflict Prediction in OLTP DBMS
Venue: arXiv cs.DB 2024
Year: 2024

Current architectures for main-memory online transaction processing (OLTP) database management systems (DBMS) typically use random scheduling to assign transactions to threads. This approach achieves uniform load across threads but it ignores the likelihood of conflicts between transactions. If the DBMS could estimate the potential for transaction conflict and then intelligently schedule transactions to avoid conflicts, then the system could improve its performance. Such estimation of transaction conflict, however, is non-trivial for several reasons. First, conflicts occur under complex conditions that are far removed in time from the scheduling decision. Second, transactions must be represented in a compact and efficient manner to allow for fast conflict detection. Third, given some evidence of potential conflict, the DBMS must schedule transactions in such a way that minimizes this conflict. In this paper, we systematically explore the design decisions for solving these problems. We then empirically measure the performance impact of different representations on standard OLTP benchmarks. Our results show that intelligent scheduling using a history increases throughput by $\sim$40\% on 20-core machine.
Adaptive Explicit Knowledge Transfer for Knowledge Distillation
Venue: arXiv cs.CV 2024
Year: 2024

Logit-based knowledge distillation (KD) for classification is cost-efficient compared to feature-based KD but often subject to inferior performance. Recently, it was shown that the performance of logit-based KD can be improved by effectively delivering the probability distribution for the non-target classes from the teacher model, which is known as `implicit (dark) knowledge', to the student model. Through gradient analysis, we first show that this actually has an effect of adaptively controlling the learning of implicit knowledge. Then, we propose a new loss that enables the student to learn explicit knowledge (i.e., the teacher's confidence about the target class) along with implicit knowledge in an adaptive manner. Furthermore, we propose to separate the classification and distillation tasks for effective distillation and inter-class relationship modeling. Experimental results demonstrate that the proposed method, called adaptive explicit knowledge transfer (AEKT) method, achieves improved performance compared to the state-of-the-art KD methods on the CIFAR-100 and ImageNet datasets.
ACCESS-FL: Agile Communication and Computation for Efficient Secure Aggregation in Stable Federated Learning Networks
Venue: arXiv cs.CR 2024
Year: 2024

Federated Learning (FL) is a promising distributed learning framework designed for privacy-aware applications. FL trains models on client devices without sharing the client's data and generates a global model on a server by aggregating model updates. Traditional FL approaches risk exposing sensitive client data when plain model updates are transmitted to the server, making them vulnerable to security threats such as model inversion attacks where the server can infer the client's original training data from monitoring the changes of the trained model in different rounds. Google's Secure Aggregation (SecAgg) protocol addresses this threat by employing a double-masking technique, secret sharing, and cryptography computations in honest-but-curious and adversarial scenarios with client dropouts. However, in scenarios without the presence of an active adversary, the computational and communication cost of SecAgg significantly increases by growing the number of clients. To address this issue, in this paper, we propose ACCESS-FL, a communication-and-computation-efficient secure aggregation method designed for honest-but-curious scenarios in stable FL networks with a limited rate of client dropout. ACCESS-FL reduces the computation/communication cost to a constant level (independent of the network size) by generating shared secrets between only two clients and eliminating the need for double masking, secret sharing, and cryptography computations. To evaluate the performance of ACCESS-FL, we conduct experiments using the MNIST, FMNIST, and CIFAR datasets to verify the performance of our proposed method. The evaluation results demonstrate that our proposed method significantly reduces computation and communication overhead compared to state-of-the-art methods, SecAgg and SecAgg+.
Stacked ensemble\-based mutagenicity prediction model using multiple modalities with graph attention network
Venue: arXiv cs.LG 2024
Year: 2024

Mutagenicity is a concern due to its association with genetic mutations which can result in a variety of negative consequences, including the development of cancer. Earlier identification of mutagenic compounds in the drug development process is therefore crucial for preventing the progression of unsafe candidates and reducing development costs. While computational techniques, especially machine learning models have become increasingly prevalent for this endpoint, they rely on a single modality. In this work, we introduce a novel stacked ensemble based mutagenicity prediction model which incorporate multiple modalities such as simplified molecular input line entry system (SMILES) and molecular graph. These modalities capture diverse information about molecules such as substructural, physicochemical, geometrical and topological. To derive substructural, geometrical and physicochemical information, we use SMILES, while topological information is extracted through a graph attention network (GAT) via molecular graph. Our model uses a stacked ensemble of machine learning classifiers to make predictions using these multiple features. We employ the explainable artificial intelligence (XAI) technique SHAP (Shapley Additive Explanations) to determine the significance of each classifier and the most relevant features in the prediction. We demonstrate that our method surpasses SOTA methods on two standard datasets across various metrics. Notably, we achieve an area under the curve of 95.21\% on the Hansen benchmark dataset, affirming the efficacy of our method in predicting mutagenicity. We believe that this research will captivate the interest of both clinicians and computational biologists engaged in translational research.
SpannerLib: Embedding Declarative Information Extraction in an Imperative Workflow
Venue: arXiv cs.DB 2024
Year: 2024

Document spanners have been proposed as a formal framework for declarative Information Extraction (IE) from text, following IE products from the industry and academia. Over the past decade, the framework has been studied thoroughly in terms of expressive power, complexity, and the ability to naturally combine text analysis with relational querying. This demonstration presents SpannerLib a library for embedding document spanners in Python code. SpannerLib facilitates the development of IE programs by providing an implementation of Spannerlog (Datalog-based documentspanners) that interacts with the Python code in two directions: rules can be embedded inside Python, and they can invoke custom Python code (e.g., calls to ML-based NLP models) via user-defined functions. The demonstration scenarios showcase IE programs, with increasing levels of complexity, within Jupyter Notebook.
Gradient events: improved acquisition of visual information in event cameras
Venue: arXiv cs.CV 2024
Year: 2024

The current event cameras are bio-inspired sensors that respond to brightness changes in the scene asynchronously and independently for every pixel, and transmit these changes as ternary event streams. Event cameras have several benefits over conventional digital cameras, such as significantly higher temporal resolution and pixel bandwidth resulting in reduced motion blur, and very high dynamic range. However, they also introduce challenges such as the difficulty of applying existing computer vision algorithms to the output event streams, and the flood of uninformative events in the presence of oscillating light sources. Here we propose a new type of event, the gradient event, which benefits from the same properties as a conventional brightness event, but which is by design much less sensitive to oscillating light sources, and which enables considerably better grayscale frame reconstruction. We show that the gradient event -based video reconstruction outperforms existing state-of-the-art brightness event -based methods by a significant margin, when evaluated on publicly available event-to-video datasets. Our results show how gradient information can be used to significantly improve the acquisition of visual information by an event camera.
Three-dimensional geometric resolution of the inverse kinematics of a 7 degree of freedom articulated arm
Venue: arXiv cs.RO 2024
Year: 2024

This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with geometric solution, since it obtains a precise solution in a closed number of steps, converting the inverse kinematic problem into a three-dimensional geometric model. To simplify the problem, the kinematic decoupling method is used, so that the position of the wrist is calculated independently on one hand with information on the orientation of the hand, and the angles of the rest of the arm are calculated from the wrist.